# VehicleAttitudeSetpoint (UORB message)



[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitudeSetpoint.msg)

```c
uint64 timestamp        # time since system start (microseconds)

float32 roll_body       # body angle in NED frame (can be NaN for FW)
float32 pitch_body      # body angle in NED frame (can be NaN for FW)
float32 yaw_body        # body angle in NED frame (can be NaN for FW)

float32 yaw_sp_move_rate    # rad/s (commanded by user)

# For quaternion-based attitude control
float32[4] q_d          # Desired quaternion for quaternion control

# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
float32[3] thrust_body      # Normalized thrust command in body NED frame [-1,1]

bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)

bool fw_control_yaw_wheel   # control heading with steering wheel (used for auto takeoff on runway)

# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint

```
